Safe Navigation of a Car-Like Robot in a Dynamic Environment

voir basilic : http://emotion.inrialpes.fr/bibemotion/2005/PF05a/ address: Ancona (IT)This paper addresses the problem of navigation of a car-like robot in dynamic environments. Such environments impose a hard real time constraint. However, computing a complete motion to the goal within a limited time is impossible to achieve in most real situations. Besides, the limited duration validity of the model used for planning requires the model and therefore the plan to be updated. In this paper, we present a Partial Motion Planning (PMP) approach as the answer to this problem. The issue of safety raised by this approach is addressed using the Inevitable Collision State formalism and effectiveness of the approach is demonstrated with several simulation examples. The quality of the generated trajectories is discussed and continuous curvature metric is integrated as a mean to improve it

Cybercar Cooperation for Safe Intersections

voir basilic : http://emotion.inrialpes.fr/bibemotion/2006/BPLFP06/ address: Toronto, ON (CA)The paper addresses the problem of motion autonomy of Cybercars across a urban intersection. Cybercars are small electric city vehicles aimed at navigating autonomously. In the context of a crossing, the motion generation together with its safety are critical issues. The proposed approach to the problem lies in the coupling of perception and planning capabilities. A new car to car communication algorithm provides necessary information to a trajectory planner capable of iteratively generate safe trajectories within a dynamic environment in order to drive Cybercars safely through the intersection. The main contributions of this work are the development and integration of these modules into one single application, considering explicitly the constraints related to the environment and the system and to provide an original answer to the problem of intelligent crossing

Steps towards safe navigation in open and dynamic environments

voir basilic : http://emotion.inrialpes.fr/bibemotion/2005/LPVYFA05/ address: Barcelona (ES) editor: Chrsitian Laugier and Raja ChatilaAutonomous navigation in open and dynamic environments is an important challenge, requiring to solve several difficult research problems located on the cutting edge of the state of the art. Bassically, these problems can be classified into three main categories: SLAM in dynamic environments; Detection, characterization, and behavior prediction of the potential moving obstacles; On-line motion planning and safe navigation decision based on world state predictions. This paper addresses some aspects of these problems and presents our latest approaches and results. The solutions we have implemented are mainly based on the followings paradigms: Characterization and motion prediction of the observed moving entities using bayesian programming; Online goal-oriented navigation decisions using the Partial Motion Planning (PMP) paradigm

Safe Motion Planning in Dynamic Environments

voir basilic : http://emotion.inrialpes.fr/bibemotion/2005/PF05/ address: Edmonton, AB (CA)This paper addresses the problem of motion planning (MP) in dynamic environments. It is first argued that dynamic environments impose a real-time constraint upon MP: it has a limited time only to compute a motion, the time available being a function of the dynamicity of the environment. Now, given the intrinsic complexity of MP, computing a complete motion to the goal within the time available is impossible to achieve in most real situations. Partial Motion Planning (PMP) is the answer to this problem proposed in this paper. PMP is a motion planning scheme with an anytime flavor: when the time available is over, PMP returns the best partial motion to the goal computed so far. Like reactive navigation scheme, PMP faces a safety issue: what guarantee is there that the system will never end up in a critical situation yielding an inevitable collision? The answer proposed in this paper to this safety issue relies upon the concept of Inevitable Collision States (ICS). ICS takes into account the dynamics of both the system and the moving obstacles. By computing ICS-free partial motion, the system safety can be guaranteed. Application of PMP to the case of a car-like system in a dynamic environment is presented

Reactive Planning Under Uncertainty Among Moving Obstacles

voir basilic : http://emotion.inrialpes.fr/bibemotion/2005/PF05c/ address: Tokyo (JP)This paper addresses the problem of navigation of complex systems in dynamic environments under uncertainty. Such environments impose a hard real time constraint. However, computing a complete motion to the goal within a limited time is impossible to achieve in most real situations. The Partial Motion Planning (PMP) approach is used to address the planning problem. However, for real applications, it is important to take into account uncertainty. In this paper, we present an extension to the PMP that accounts for uncertainty in order to plan trajectories robust to the robot's errors. We show that PMP framework is highly suitable to account for these constraints and present original simulation results of robust trajectories for a car-like robot evolving among moving obstacles

Reactive Planning Under Uncertainty Among Moving Obstacles

voir basilic : http://emotion.inrialpes.fr/bibemotion/2005/PF05c/ address: Tokyo (JP)This paper addresses the problem of navigation of complex systems in dynamic environments under uncertainty. Such environments impose a hard real time constraint. However, computing a complete motion to the goal within a limited time is impossible to achieve in most real situations. The Partial Motion Planning (PMP) approach is used to address the planning problem. However, for real applications, it is important to take into account uncertainty. In this paper, we present an extension to the PMP that accounts for uncertainty in order to plan trajectories robust to the robot's errors. We show that PMP framework is highly suitable to account for these constraints and present original simulation results of robust trajectories for a car-like robot evolving among moving obstacles

Safe Navigation of a Car-Like Robot in a Dynamic Environment

voir basilic : http://emotion.inrialpes.fr/bibemotion/2005/PF05a/ address: Ancona (IT)This paper addresses the problem of navigation of a car-like robot in dynamic environments. Such environments impose a hard real time constraint. However, computing a complete motion to the goal within a limited time is impossible to achieve in most real situations. Besides, the limited duration validity of the model used for planning requires the model and therefore the plan to be updated. In this paper, we present a Partial Motion Planning (PMP) approach as the answer to this problem. The issue of safety raised by this approach is addressed using the Inevitable Collision State formalism and effectiveness of the approach is demonstrated with several simulation examples. The quality of the generated trajectories is discussed and continuous curvature metric is integrated as a mean to improve it

Safe Navigation of a Car-Like Robot within a Dynamic Environment

This paper addresses the problem of navigation of a carlike robot in dynamic environments. Such environments impose a hard real time constraint. However, computing a complete motion to the goal within a limited time is impossible to achieve in most real situations. Besides, the limited duration validity of the model used for planning requires the model and therefore the plan to be updated. In this paper, we present a Partial Motion Planning (PMP) approach as the answer to this problem. The issue of safety raised by this approach is addressed using the Inevitable Collision State formalism and effectiveness of the approach is demonstrated with several simulation examples. The quality of the generated trajectories is discussed and continuous curvature metric is integrated as a mean to improve it

Cybercar Cooperation for Safe Intersections

voir basilic : http://emotion.inrialpes.fr/bibemotion/2006/BPLFP06/ address: Toronto, ON (CA)The paper addresses the problem of motion autonomy of Cybercars across a urban intersection. Cybercars are small electric city vehicles aimed at navigating autonomously. In the context of a crossing, the motion generation together with its safety are critical issues. The proposed approach to the problem lies in the coupling of perception and planning capabilities. A new car to car communication algorithm provides necessary information to a trajectory planner capable of iteratively generate safe trajectories within a dynamic environment in order to drive Cybercars safely through the intersection. The main contributions of this work are the development and integration of these modules into one single application, considering explicitly the constraints related to the environment and the system and to provide an original answer to the problem of intelligent crossing

Cybercar Cooperation for Safe Intersections

voir basilic : http://emotion.inrialpes.fr/bibemotion/2006/BPLFP06/ address: Toronto, ON (CA)The paper addresses the problem of motion autonomy of Cybercars across a urban intersection. Cybercars are small electric city vehicles aimed at navigating autonomously. In the context of a crossing, the motion generation together with its safety are critical issues. The proposed approach to the problem lies in the coupling of perception and planning capabilities. A new car to car communication algorithm provides necessary information to a trajectory planner capable of iteratively generate safe trajectories within a dynamic environment in order to drive Cybercars safely through the intersection. The main contributions of this work are the development and integration of these modules into one single application, considering explicitly the constraints related to the environment and the system and to provide an original answer to the problem of intelligent crossing